Impedance control of redundant drive joints with double actuation
Nagai, K., Shiigi, Y. , Ikegami, Y., Loureiro, R. and Harwin, W.S. (2009) Impedance control of redundant drive joints with double actuation. In: IEEE International Conference on Robotics and Automation, 2009 (ICRA '09), Kobe, Japan.
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To link to this article DOI: 10.1109/ROBOT.2009.5152472
This paper proposes impedance control of redundant drive joints with double actuation (RDJ-DA) to produce compliant motions with the future goal of higher bandwidth. First, to reduce joint inertia, a double-input-single-output mechanism with one internal degree of freedom (DOF) is presented as part of the basic structure of the RDJ-DA. Next, the basic structure of RDJ-DA is further explained and its dynamics and statics are derived. Then, the impedance control scheme of RDJ-DA to produce compliant motions is proposed and the validity of the proposed controller is investigated using numerical examples.